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Toward A Better Understanding of Monocular Depth Evaluation
Siyang Wu, Jack Nugent, Willow Yang +1
Monocular depth estimation is an important task with rapid progress, but how to evaluate it is not fully resolved, as evidenced by a lack of standardization in existing literature…
Evaluating Robustness of Monocular Depth Estimation with Procedural Scene Perturbations
Jack Nugent, Siyang Wu, Zeyu Ma +7
Recent years have witnessed substantial progress on monocular depth estimation, particularly as measured by the success of large models on standard benchmarks. However, performance…
Procedural Generation of Articulated Simulation-Ready Assets
Abhishek Joshi, Beining Han, Jack Nugent +12
We introduce Infinigen-Articulated, a toolkit for generating realistic, procedurally generated articulated assets for robotics simulation. We include procedural generators for 18 c…
Zero-shot Sim2Real Transfer for Magnet-Based Tactile Sensor on Insertion Tasks
Beining Han, Abhishek Joshi, Jia Deng
Tactile sensing is an important sensing modality for robot manipulation. Among different types of tactile sensors, magnet-based sensors, like u-skin, balance well between high dura…
What Makes Good Synthetic Training Data for Zero-Shot Stereo Matching?
David Yan, Alexander Raistrick, Jia Deng
Synthetic datasets are a crucial ingredient for training stereo matching networks, but the question of what makes a stereo dataset effective remains underexplored. We investigate t…